Wireless Protocol

Android->Arduino (Telecommands)

<SYNC><LeftSpeed><RightSpeed>[<ExtraTC>]<EOC>

• SYNC pattern to start a command: 0xFFFF, uint16_t
• Speed: desired speed, range -255..255, uint16_t
  • -255 max neg. speed
  • 0..stop
  • 255..max. speed
• Not yet implemented: ExtraTC: optional extra command:
  • CmdID: command identifier, uint8_t
  • CmdParam: command parameter, uint8_t
• EOC: end of command: pattern to finish a command. 0x66. uint8_t

Arduino->Android (Telemetry)

(Also not yet implemented)

• SYNC pattern to start a command: 0xEB90, uint16_t
• AccelerationX: int16_t
• AccelerationY: int16_t
• AccelerationZ: int16_t
• RotationX: int16_t
• RotationY: int16_t
• RotationZ: int16_t
• Orientation: chassis angle, int16_t
• State: bit pattern for various binary system states, uint32_t
• EOC: end of command: pattern to finish a command. 0x09BE. uint16_t